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<div class="title">voxel_grid_occlusion_estimation.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * Author : Christian Potthast</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * Email  : potthast@usc.edu</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_VOXEL_GRID_OCCLUSION_ESTIMATION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_VOXEL_GRID_OCCLUSION_ESTIMATION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/voxel_grid_occlusion_estimation.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2a7aa2a6a31a4c7a8fdaf480b8f44cca">   47</a></span>&#160;<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2a7aa2a6a31a4c7a8fdaf480b8f44cca">pcl::VoxelGridOcclusionEstimation&lt;PointT&gt;::initializeVoxelGrid</a> ()</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// initialization set to true</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  initialized_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// create the voxel grid and store the output cloud</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  this-&gt;filter (filtered_cloud_);</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// Get the minimum and maximum bounding box dimensions</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  b_min_[0] = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( min_b_[0]) * leaf_size_[0]);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  b_min_[1] = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( min_b_[1]) * leaf_size_[1]);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  b_min_[2] = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( min_b_[2]) * leaf_size_[2]);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  b_max_[0] = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( (max_b_[0]) + 1) * leaf_size_[0]);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  b_max_[1] = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( (max_b_[1]) + 1) * leaf_size_[1]);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  b_max_[2] = (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> ( (max_b_[2]) + 1) * leaf_size_[2]);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="comment">// set the sensor origin and sensor orientation</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  sensor_origin_ = filtered_cloud_.sensor_origin_;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  sensor_orientation_ = filtered_cloud_.sensor_orientation_;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">   70</a></span>&#160;<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">pcl::VoxelGridOcclusionEstimation&lt;PointT&gt;::occlusionEstimation</a> (<span class="keywordtype">int</span>&amp; out_state,</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                                                                <span class="keyword">const</span> Eigen::Vector3i&amp; in_target_voxel)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;{</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Voxel grid not initialized; call initializeVoxelGrid () first! \n&quot;</span>);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="comment">// estimate direction to target voxel</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  Eigen::Vector4f p = getCentroidCoordinate (in_target_voxel);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  Eigen::Vector4f direction = p - sensor_origin_;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="comment">// estimate entry point into the voxel grid</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">float</span> tmin = rayBoxIntersection (sensor_origin_, direction);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">if</span> (tmin == -1)</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The ray does not intersect with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">// ray traversal</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  out_state = rayTraversal (in_target_voxel, sensor_origin_, direction, tmin);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;}</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ab9caaf4a51888c55c4aecba30fd55695">  101</a></span>&#160;<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">pcl::VoxelGridOcclusionEstimation&lt;PointT&gt;::occlusionEstimation</a> (<span class="keywordtype">int</span>&amp; out_state,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                                                                std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;&amp; out_ray,</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;                                                                <span class="keyword">const</span> Eigen::Vector3i&amp; in_target_voxel)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;{</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Voxel grid not initialized; call initializeVoxelGrid () first! \n&quot;</span>);</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="comment">// estimate direction to target voxel</span></div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  Eigen::Vector4f p = getCentroidCoordinate (in_target_voxel);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  Eigen::Vector4f direction = p - sensor_origin_;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  direction.normalize ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// estimate entry point into the voxel grid</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordtype">float</span> tmin = rayBoxIntersection (sensor_origin_, direction);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordflow">if</span> (tmin == -1)</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;The ray does not intersect with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="comment">// ray traversal</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  out_state = rayTraversal (out_ray, in_target_voxel, sensor_origin_, direction, tmin);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;}</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2c2ba288edaa06131e3a6ba0f8a8bb81">  133</a></span>&#160;<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2c2ba288edaa06131e3a6ba0f8a8bb81">pcl::VoxelGridOcclusionEstimation&lt;PointT&gt;::occlusionEstimationAll</a> (std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;&amp; occluded_voxels)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="keywordflow">if</span> (!initialized_)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  {</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;Voxel grid not initialized; call initializeVoxelGrid () first! \n&quot;</span>);</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  }</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// reserve space for the ray vector</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  <span class="keywordtype">int</span> reserve_size = div_b_[0] * div_b_[1] * div_b_[2];</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  occluded_voxels.reserve (reserve_size);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="comment">// iterate over the entire voxel grid</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> kk = min_b_.z (); kk &lt;= max_b_.z (); ++kk)</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> jj = min_b_.y (); jj &lt;= max_b_.y (); ++jj)</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ii = min_b_.x (); ii &lt;= max_b_.x (); ++ii)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        Eigen::Vector3i ijk (ii, jj, kk);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">// process all free voxels</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordtype">int</span> index = this-&gt;getCentroidIndexAt (ijk);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">if</span> (index == -1)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;          <span class="comment">// estimate direction to target voxel</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;          Eigen::Vector4f p = getCentroidCoordinate (ijk);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          Eigen::Vector4f direction = p - sensor_origin_;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          direction.normalize ();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;          </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;          <span class="comment">// estimate entry point into the voxel grid</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;          <span class="keywordtype">float</span> tmin = rayBoxIntersection (sensor_origin_, direction);</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="comment">// ray traversal</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          <span class="keywordtype">int</span> state = rayTraversal (ijk, sensor_origin_, direction, tmin);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          <span class="comment">// if voxel is occluded</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keywordflow">if</span> (state == 1)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            occluded_voxels.push_back (ijk);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        }</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">  176</a></span>&#160;<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">pcl::VoxelGridOcclusionEstimation&lt;PointT&gt;::rayBoxIntersection</a> (<span class="keyword">const</span> Eigen::Vector4f&amp; origin, </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;                                                               <span class="keyword">const</span> Eigen::Vector4f&amp; direction)</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;{</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordtype">float</span> tmin, tmax, tymin, tymax, tzmin, tzmax;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  <span class="keywordflow">if</span> (direction[0] &gt;= 0)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    tmin = (b_min_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    tmax = (b_max_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  {</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    tmin = (b_max_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    tmax = (b_min_[0] - origin[0]) / direction[0];</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">if</span> (direction[1] &gt;= 0)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    tymin = (b_min_[1] - origin[1]) / direction[1];</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    tymax = (b_max_[1] - origin[1]) / direction[1]; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    tymin = (b_max_[1] - origin[1]) / direction[1];</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    tymax = (b_min_[1] - origin[1]) / direction[1];</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">if</span> ((tmin &gt; tymax) || (tymin &gt; tmax))</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;no intersection with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    tmin = -1.0f;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    <span class="keywordflow">return</span> tmin;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">if</span> (tymin &gt; tmin)</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    tmin = tymin;</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <span class="keywordflow">if</span> (tymax &lt; tmax)</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    tmax = tymax;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordflow">if</span> (direction[2] &gt;= 0)</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    tzmin = (b_min_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    tzmax = (b_max_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;  }</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  {</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    tzmin = (b_max_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    tzmax = (b_min_[2] - origin[2]) / direction[2];</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  }</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <span class="keywordflow">if</span> ((tmin &gt; tzmax) || (tzmin &gt; tmax))</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  {</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;no intersection with the bounding box \n&quot;</span>);</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    tmin = -1.0f;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    <span class="keywordflow">return</span> tmin;       </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  <span class="keywordflow">if</span> (tzmin &gt; tmin)</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    tmin = tzmin;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordflow">if</span> (tzmax &lt; tmax)</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;    tmax = tzmax;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keywordflow">return</span> tmin;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;}</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">  243</a></span>&#160;<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">pcl::VoxelGridOcclusionEstimation&lt;PointT&gt;::rayTraversal</a> (<span class="keyword">const</span> Eigen::Vector3i&amp; target_voxel,</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;                                                         <span class="keyword">const</span> Eigen::Vector4f&amp; origin, </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                                                         <span class="keyword">const</span> Eigen::Vector4f&amp; direction,</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                                                         <span class="keyword">const</span> <span class="keywordtype">float</span> t_min)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;{</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="comment">// coordinate of the boundary of the voxel grid</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  Eigen::Vector4f start = origin + t_min * direction;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="comment">// i,j,k coordinate of the voxel were the ray enters the voxel grid</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  Eigen::Vector3i ijk = getGridCoordinatesRound (start[0], start[1], start[2]);</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="comment">// steps in which direction we have to travel in the voxel grid</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">int</span> step_x, step_y, step_z;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="comment">// centroid coordinate of the entry voxel</span></div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  Eigen::Vector4f voxel_max = getCentroidCoordinate (ijk);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordflow">if</span> (direction[0] &gt;= 0)</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  {</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    voxel_max[0] += leaf_size_[0] * 0.5f;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    step_x = 1;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    voxel_max[0] -= leaf_size_[0] * 0.5f;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    step_x = -1;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">if</span> (direction[1] &gt;= 0)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    voxel_max[1] += leaf_size_[1] * 0.5f;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    step_y = 1;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  {</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    voxel_max[1] -= leaf_size_[1] * 0.5f;</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    step_y = -1;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordflow">if</span> (direction[2] &gt;= 0)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    voxel_max[2] += leaf_size_[2] * 0.5f;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    step_z = 1;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  }</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    voxel_max[2] -= leaf_size_[2] * 0.5f;</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    step_z = -1;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">float</span> t_max_x = t_min + (voxel_max[0] - start[0]) / direction[0];</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">float</span> t_max_y = t_min + (voxel_max[1] - start[1]) / direction[1];</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordtype">float</span> t_max_z = t_min + (voxel_max[2] - start[2]) / direction[2];</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;     </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">float</span> t_delta_x = leaf_size_[0] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[0]));</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordtype">float</span> t_delta_y = leaf_size_[1] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[1]));</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keywordtype">float</span> t_delta_z = leaf_size_[2] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[2]));</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="comment">// index of the point in the point cloud</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keywordtype">int</span> index;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160; </div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keywordflow">while</span> ( (ijk[0] &lt; max_b_[0]+1) &amp;&amp; (ijk[0] &gt;= min_b_[0]) &amp;&amp; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;          (ijk[1] &lt; max_b_[1]+1) &amp;&amp; (ijk[1] &gt;= min_b_[1]) &amp;&amp; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          (ijk[2] &lt; max_b_[2]+1) &amp;&amp; (ijk[2] &gt;= min_b_[2]) )</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  {</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    <span class="comment">// check if we reached target voxel</span></div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    <span class="keywordflow">if</span> (ijk[0] == target_voxel[0] &amp;&amp; ijk[1] == target_voxel[1] &amp;&amp; ijk[2] == target_voxel[2])</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="comment">// check if voxel is occupied, if yes return 1 for occluded</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;    index = this-&gt;getCentroidIndexAt (ijk);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    <span class="keywordflow">if</span> (index != -1)</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    <span class="comment">// estimate next voxel</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    <span class="keywordflow">if</span>(t_max_x &lt;= t_max_y &amp;&amp; t_max_x &lt;= t_max_z)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;      t_max_x += t_delta_x;</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      ijk[0] += step_x;</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(t_max_y &lt;= t_max_z &amp;&amp; t_max_y &lt;= t_max_x)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      t_max_y += t_delta_y;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      ijk[1] += step_y;</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;    }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    {</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      t_max_z += t_delta_z;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      ijk[2] += step_z;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;  }</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;}</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00337"></a><span class="lineno"><a class="line" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a04dc2590897e65a6412eb9bda5eeb3d3">  337</a></span>&#160;<a class="code" href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">pcl::VoxelGridOcclusionEstimation&lt;PointT&gt;::rayTraversal</a> (std::vector&lt;Eigen::Vector3i, Eigen::aligned_allocator&lt;Eigen::Vector3i&gt; &gt;&amp; out_ray,</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;                                                         <span class="keyword">const</span> Eigen::Vector3i&amp; target_voxel,</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;                                                         <span class="keyword">const</span> Eigen::Vector4f&amp; origin, </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;                                                         <span class="keyword">const</span> Eigen::Vector4f&amp; direction,</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;                                                         <span class="keyword">const</span> <span class="keywordtype">float</span> t_min)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;{</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="comment">// reserve space for the ray vector</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  <span class="keywordtype">int</span> reserve_size = div_b_.maxCoeff () * div_b_.maxCoeff ();</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;  out_ray.reserve (reserve_size);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  <span class="comment">// coordinate of the boundary of the voxel grid</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;  Eigen::Vector4f start = origin + t_min * direction;</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160; </div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="comment">// i,j,k coordinate of the voxel were the ray enters the voxel grid</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;  Eigen::Vector3i ijk = getGridCoordinatesRound (start[0], start[1], start[2]);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <span class="comment">//Eigen::Vector3i ijk = this-&gt;getGridCoordinates (start_x, start_y, start_z);</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  <span class="comment">// steps in which direction we have to travel in the voxel grid</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keywordtype">int</span> step_x, step_y, step_z;</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;  <span class="comment">// centroid coordinate of the entry voxel</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  Eigen::Vector4f voxel_max = getCentroidCoordinate (ijk);</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160; </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  <span class="keywordflow">if</span> (direction[0] &gt;= 0)</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  {</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    voxel_max[0] += leaf_size_[0] * 0.5f;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    step_x = 1;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  }</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    voxel_max[0] -= leaf_size_[0] * 0.5f;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;    step_x = -1;</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;  }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keywordflow">if</span> (direction[1] &gt;= 0)</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;  {</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;    voxel_max[1] += leaf_size_[1] * 0.5f;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;    step_y = 1;</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    voxel_max[1] -= leaf_size_[1] * 0.5f;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    step_y = -1;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  }</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  <span class="keywordflow">if</span> (direction[2] &gt;= 0)</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  {</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    voxel_max[2] += leaf_size_[2] * 0.5f;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    step_z = 1;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;  }</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  {</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;    voxel_max[2] -= leaf_size_[2] * 0.5f;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;    step_z = -1;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="keywordtype">float</span> t_max_x = t_min + (voxel_max[0] - start[0]) / direction[0];</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordtype">float</span> t_max_y = t_min + (voxel_max[1] - start[1]) / direction[1];</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keywordtype">float</span> t_max_z = t_min + (voxel_max[2] - start[2]) / direction[2];</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;     </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="keywordtype">float</span> t_delta_x = leaf_size_[0] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[0]));</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="keywordtype">float</span> t_delta_y = leaf_size_[1] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[1]));</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  <span class="keywordtype">float</span> t_delta_z = leaf_size_[2] / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (fabs (direction[2]));</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160; </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  <span class="comment">// the index of the cloud (-1 if empty)</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordtype">int</span> index = -1;</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  <span class="keywordtype">int</span> result = 0;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  <span class="keywordflow">while</span> ( (ijk[0] &lt; max_b_[0]+1) &amp;&amp; (ijk[0] &gt;= min_b_[0]) &amp;&amp; </div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          (ijk[1] &lt; max_b_[1]+1) &amp;&amp; (ijk[1] &gt;= min_b_[1]) &amp;&amp; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          (ijk[2] &lt; max_b_[2]+1) &amp;&amp; (ijk[2] &gt;= min_b_[2]) )</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  {</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    <span class="comment">// add voxel to ray</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    out_ray.push_back (ijk);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;    <span class="comment">// check if we reached target voxel</span></div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;    <span class="keywordflow">if</span> (ijk[0] == target_voxel[0] &amp;&amp; ijk[1] == target_voxel[1] &amp;&amp; ijk[2] == target_voxel[2])</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160; </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    <span class="comment">// check if voxel is occupied</span></div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    index = this-&gt;getCentroidIndexAt (ijk);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keywordflow">if</span> (index != -1)</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      result = 1;</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    <span class="comment">// estimate next voxel</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;    <span class="keywordflow">if</span>(t_max_x &lt;= t_max_y &amp;&amp; t_max_x &lt;= t_max_z)</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;    {</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;      t_max_x += t_delta_x;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;      ijk[0] += step_x;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;    }</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span>(t_max_y &lt;= t_max_z &amp;&amp; t_max_y &lt;= t_max_x)</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;    {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;      t_max_y += t_delta_y;</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;      ijk[1] += step_y;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    }</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;    {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      t_max_z += t_delta_z;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;      ijk[2] += step_z;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;    }</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;}</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_VoxelGridOcclusionEstimation(T) template class PCL_EXPORTS pcl::VoxelGridOcclusionEstimation&lt;T&gt;;</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_FILTERS_IMPL_VOXEL_GRID_OCCLUSION_ESTIMATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a2a7aa2a6a31a4c7a8fdaf480b8f44cca"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2a7aa2a6a31a4c7a8fdaf480b8f44cca">pcl::VoxelGridOcclusionEstimation::initializeVoxelGrid</a></div><div class="ttdeci">void initializeVoxelGrid()</div><div class="ttdoc">Initialize the voxel grid, needs to be called first Builts the voxel grid and computes additional val...</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a2c2ba288edaa06131e3a6ba0f8a8bb81"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a2c2ba288edaa06131e3a6ba0f8a8bb81">pcl::VoxelGridOcclusionEstimation::occlusionEstimationAll</a></div><div class="ttdeci">int occlusionEstimationAll(std::vector&lt; Eigen::Vector3i, Eigen::aligned_allocator&lt; Eigen::Vector3i &gt; &gt; &amp;occluded_voxels)</div><div class="ttdoc">Computes the voxel coordinates (i, j, k) of all occluded voxels in the voxel gird.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a73e48f89db0b088caa22a1935ec15ecf"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a73e48f89db0b088caa22a1935ec15ecf">pcl::VoxelGridOcclusionEstimation::rayBoxIntersection</a></div><div class="ttdeci">float rayBoxIntersection(const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction)</div><div class="ttdoc">Returns the scaling value (tmin) were the ray intersects with the voxel grid bounding box....</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:176</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_a809a45f306299a20ae44a5cc6e01aff5"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#a809a45f306299a20ae44a5cc6e01aff5">pcl::VoxelGridOcclusionEstimation::rayTraversal</a></div><div class="ttdeci">int rayTraversal(const Eigen::Vector3i &amp;target_voxel, const Eigen::Vector4f &amp;origin, const Eigen::Vector4f &amp;direction, const float t_min)</div><div class="ttdoc">Returns the state of the target voxel (0 = visible, 1 = occupied) unsing a ray traversal algorithm.</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:243</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_occlusion_estimation_html_ada571e881ed4c22607d81fce8df62227"><div class="ttname"><a href="classpcl_1_1_voxel_grid_occlusion_estimation.html#ada571e881ed4c22607d81fce8df62227">pcl::VoxelGridOcclusionEstimation::occlusionEstimation</a></div><div class="ttdeci">int occlusionEstimation(int &amp;out_state, const Eigen::Vector3i &amp;in_target_voxel)</div><div class="ttdoc">Computes the state (free = 0, occluded = 1) of the voxel after utilizing a ray traversal algorithm to...</div><div class="ttdef"><b>Definition:</b> voxel_grid_occlusion_estimation.hpp:70</div></div>
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